ytazz/mrpgo

mrpgo (Multi-Resolution Pose-Graph Optimizer)

Abstract

A pose-graph optimization algorithm based on multi-resolution transform and parallel block-Gauss-Seidel iteration. Check out the RA-L paper for details.

Building

Use CMake.

Dependent libraries

• Eigen3
• Intel MKL
• Suitesparse

Running

mrpgo_app is a command-line application. Run it without argument to display help. It accepts input files in g2o format. It recognizes VERTEX_SE2/EDGE_SE2 for 2D posegraphs, and VERTEX_SE3/EDGE_SE3:QUAT for 3D posegraphs. Output file can be specified with -o option.

Visualization capability is not implemented. Load the output posegraph file on g2o_viewer (for example) to see if it's properly optimized.